A dual arms robotic platform control for navigation, inspection and telemanipulation
High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maint...
Autores principales: | , , , , , , |
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Lenguaje: | eng |
Publicado: |
2018
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Materias: | |
Acceso en línea: | https://dx.doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127 http://cds.cern.ch/record/2305665 |
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author | Di Castro, Mario Buonocore, Luca Rosario Ferre, Manuel Gilardoni, Simone Losito, Roberto Lunghi, Giacomo Masi, Alessandro |
author_facet | Di Castro, Mario Buonocore, Luca Rosario Ferre, Manuel Gilardoni, Simone Losito, Roberto Lunghi, Giacomo Masi, Alessandro |
author_sort | Di Castro, Mario |
collection | CERN |
description | High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case. |
id | oai-inspirehep.net-1656227 |
institution | Organización Europea para la Investigación Nuclear |
language | eng |
publishDate | 2018 |
record_format | invenio |
spelling | oai-inspirehep.net-16562272019-09-30T06:29:59Zdoi:10.18429/JACoW-ICALEPCS2017-TUPHA127http://cds.cern.ch/record/2305665engDi Castro, MarioBuonocore, Luca RosarioFerre, ManuelGilardoni, SimoneLosito, RobertoLunghi, GiacomoMasi, AlessandroA dual arms robotic platform control for navigation, inspection and telemanipulationAccelerators and Storage RingsHigh intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.oai:inspirehep.net:16562272018 |
spellingShingle | Accelerators and Storage Rings Di Castro, Mario Buonocore, Luca Rosario Ferre, Manuel Gilardoni, Simone Losito, Roberto Lunghi, Giacomo Masi, Alessandro A dual arms robotic platform control for navigation, inspection and telemanipulation |
title | A dual arms robotic platform control for navigation, inspection and telemanipulation |
title_full | A dual arms robotic platform control for navigation, inspection and telemanipulation |
title_fullStr | A dual arms robotic platform control for navigation, inspection and telemanipulation |
title_full_unstemmed | A dual arms robotic platform control for navigation, inspection and telemanipulation |
title_short | A dual arms robotic platform control for navigation, inspection and telemanipulation |
title_sort | dual arms robotic platform control for navigation, inspection and telemanipulation |
topic | Accelerators and Storage Rings |
url | https://dx.doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127 http://cds.cern.ch/record/2305665 |
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